Flight system

Abstract

Flight system, with at least two actuated flapping wings (2), an actuated tail unit (9), a control unit (53) and an exoskeleton (1) for at least one person, wherein the exoskeleton (1) is movable independently of the flapping wings (2), and wherein the control unit (53) is designed to receive movement sensor signals of the exoskeleton (1) and to define movement specification signals based on the movement sensor signals and to control the flapping wings (2) and / or the tail unit (9) with the movement specification signals, wherein the movement specification signals are preferably defined such that the movements of the flapping wings (2) and / or the tail unit (9) follow those of the exoskeleton (1).

Description

[0001] The present invention relates to a flight system with actuated flapping wings and an actuated tail unit.

[0002] From DE 652 170 A, a muscle-powered glider is known in which wings moved by muscle power are connected to the fuselage by rubber ropes, which are intended to support the forces of the pilot, whereby the wings can be locked by means of manually switchable latches and the aircraft can continue to be used as a glider without any effort.

[0003] From DE 173 926 A, a flying machine with flapping wings is known which can be operated via a frame by the pilot's arms with the arm bent, with the elbows each resting on an abutment and the hands each gripping a curved handle, the different areas of engagement of which enable different lever arms to drive the wings.

[0004] A hover glider with motor-assisted wings is known from WO 2014 / 028083 A2. The wings can be operated and controlled using hand claws or gimbals arranged on an inner wing spar section. A fan-shaped rudder can be operated by foot.

[0005] Further information on the prior art can be found in CN 1 07 352 031 A, US 2015 / 0 307 191 A1, US 8 700 233 B1, DE 10 2015 003 683 A1, DE 10 2007 050 427 A1 and US 2016 / 0 009 389 A1.

[0006] None of the theoretically conceived flapping-wing systems has yet been made practical. Alternatively, paragliders, paragliders, and ultralight flight systems have found some popularity. Paragliders and paragliders, however, are not capable of climbing under their own power, relying instead on thermals to gain altitude. In this respect, they are similar to gliders, but have significantly lower glide ratios. Gliders, on the other hand, which can cover considerable distances while gliding, lack the dynamics and immediate experience inherent in paragliders and paragliders. Ultralight flight systems use a propeller for propulsion and can be designed as motorized paragliders or paragliders, or have a cabin and fixed wings.

[0007] One object of the present invention is to provide a practical flight system with flapping wings. The flight system should also enable ergonomic, safe, and fatigue-free flying.

[0008] The object is solved by the features of independent claim 1. Advantageous further developments and preferred embodiments are described in the subclaims.

[0009] The present invention according to claim 1 thus describes a flight system comprising actuated or actuable flapping wings and an actuated or actuable tail unit, which can be controlled by a pilot. In the embodiment according to the invention, the pilot uses an exoskeleton for this purpose, which is functionally coupled to the wings and tail unit, but is movable independently of them. The functional coupling is achieved by the control unit, which controls the movements of the flapping wings and / or the tail unit based on the movements of the exoskeleton. In a preferred embodiment according to claim 2, the control unit can also control feedback to the exoskeleton based on the effects prevailing on the flapping wings and / or the tail unit, such as forces, accelerations, and velocities.In a preferred embodiment according to claim 3, the degrees of freedom of the flapping wings can be assigned to the arms and / or hands of the pilot and the degrees of freedom of the tail unit can be assigned to the legs and / or feet of the pilot.

[0010] The flapping wings can be externally similar to those of birds or bats. This means that they can have a movable, supporting structure and a suitable, aerodynamically designed surface in addition to sensors and actuators. In a preferred embodiment according to claim 13, the flapping wings can have several wing segments that are movable relative to one another and actuated, and wherein stretchable material and / or overlapping spatial surfaces are preferably provided at the boundaries between two wing segments and / or between a wing segment and a device carrier. A central structure is to be provided as the device carrier, to which the flapping wings or their respective first wing segments and / or the tail unit are articulated. The device carrier can, for example, take the form of a backpack to be carried by the pilot.The equipment carrier can also accommodate subsystems of the flight system such as energy storage and converters, control units, interfaces, valves, sensors, cables, auxiliary units, etc.

[0011] The tail unit can also be designed externally to resemble the tail feathers of birds or have such tail feathers, as provided in a preferred embodiment according to claim 14. However, other configurations, such as in the form of a conventional aircraft tail unit, are also conceivable.

[0012] In the context of the invention, the exoskeleton is a system capable of measuring the forces and movements of the body within it and, in turn, exerting forces on the body. Its actuated degrees of freedom can therefore be used as a control element with force feedback.

[0013] The invention describes a combination of actuated wings / tailplane and an exoskeleton, incorporating a flight controller or control unit: State variables, such as forces and positions of the limbs and their joints, which can generally be referred to as motion sensor signals, are recorded via the exoskeleton to serve as controller input variables. The control unit then processes these variables using an algorithm to produce controller output variables, which serve as setpoint signals for the movements of the wing and tailplane system in the form of motion specification signals. In turn, state variables of the wing system can be sensed in the form of movement effect signals, which serve as controller input variables for the exoskeleton system. The control unit uses these to generate setpoint signals for the exoskeleton actuators in the form of feedback specification signals.The result is a novel flight system that can also utilize concepts from telepresence and telerobotics. It allows the pilot to control the wings and thus the flight, as well as "sense" the flight attitude. As a result, the pilot will likely be able to learn to fly intuitively. Ideally, the exoskeleton and wing system are physically connected, but can also be located in physically separate locations, as is common in telerobotics. However, since the exoskeleton and the flapping wings / tail assembly can move independently of each other, i.e., they are mechanically decoupled, the pilot can always adopt a comfortable posture or one that optimizes their movements. Furthermore, the power translation of the pilot's movements into movements of the flapping wings / tail assembly, as well as feedback to the pilot, can be adapted to the pilot's actual physical strength.

[0014] It is understood that in addition to the components mentioned, subsystems may or must also be present, such as an energy source (battery, turbine, etc.), energy converter (hydraulic motors, compressors, etc.), distribution system, etc. The exoskeleton can be physically separable from the flapping wings, so that, for example, the flapping wings can be remotely controlled or dropped in the air in an emergency situation.

[0015] The main wings or flapping wings should be controllable with the arms and hands. The tail feathers or tail unit should be controllable with the legs or feet. Furthermore, each coupling can be deactivated individually on an ad hoc basis.

[0016] The wings and the tail unit could also be controlled by means other than the exoskeleton, or the control of the wings does not have to be exclusively via the exoskeleton. In a further preferred embodiment according to claim 6, for example, a further input device can be provided to specify movements of the flapping wings and / or tail unit, wherein the further input device in particular has analog sticks, switches and buttons and / or a brain-computer interface. A controller very similar to a games controller would be conceivable, for example. It would have two analog sticks with which forward and backward movements, as well as pitch and roll, could be controlled. It could also have a button to initiate a wing beat. It would then be possible to fly in a similar way to Flappybird. Brain-computer interfaces are also already under development.If the movements of flapping wings and / or tail unit are not or not only specified by an exoskeleton, but are input using another input method, such as analog sticks, switches and buttons and / or a brain-computer interface, the movement specifications for the system components can also be calculated automatically in a further preferred embodiment according to claim 5 based on a movement direction or movement pattern specified for the entire system.

[0017] The special mechanism of the primaries in a further preferred embodiment according to claim 4 can also be observed in birds. When they take off vertically, they generate thrust with their primaries even during takeoff. To do this, a wingtip or the individual primary is swung / folded backward / upward, and the air is thereby pushed backward and downward, or accelerated.

[0018] By adjusting the ratios of controller input variables and controller output variables in a further preferred embodiment according to claim 7, the strength of the feedback force can also be adjusted, and the angular velocities of the arms and wings do not always have to be the same. Furthermore, the movements of the exoskeleton and wings can be decoupled, allowing "hands-free operation." Simplifications may also be possible, for example, by combining some degrees of freedom so that only one needs to be controlled. This means that the setpoint and the controlled variable do not have to be directly related to each other.

[0019] The gyroscopes provided in another preferred embodiment according to claim 10 can generate torques in addition to the air forces. This presumably allows the pilot to perform other maneuvers. Furthermore, this could be useful for flight control.

[0020] An emergency configuration, as provided in another preferred embodiment according to claim 11, can make the flight system safer against technical problems or physical and / or mental impairments of the pilot. For this purpose, for example, pre-charged energy storage devices can be connected to the actuators of the flight system, or airbags, retrorockets, explosive parachutes, or the like can be used.

[0021] Additional drive elements, as provided in a further preferred embodiment according to claim 12, can be used, for example, for fast flight or for the recreation of the pilot. Short description of the drawings Fig. 1 shows a front view of a flight system according to an embodiment of the present invention; Fig. Figure 2 shows a perspective front view of part of the flight system of Fig. 1; Fig. 3 shows a section of a skeletal structure of the flight system of Fig. 2; Fig. 4 shows a rear view of the section of Fig. 3; Fig. 5 shows a block diagram of a flight system according to an embodiment of the present invention. Detailed description

[0022] In the following, a preferred, non-exclusive embodiment of the patent content is described. Fig. 1 to 4, the preferred embodiment is shown schematically. Connecting elements, sensors, lines, and other details are not shown. Fig. 3 and Fig. 4, for the sake of clarity, the illustration is reduced to the skeletal structure and the preferred design of the mechanics of the wings. Fig. 5 shows a possible block diagram of the individual systems in the overall system.

[0023] The flight system of this embodiment comprises an exoskeleton 1, a flapping wing arrangement with two flapping wings 2 and a tail unit 9 ( Fig. 1).

[0024] The exoskeleton 1 has an equipment backpack 11, a chest harness 12, a waist belt 13, a thigh cuff 14 for each thigh of a pilot (not shown in detail here), an upper arm cuff 15 for each arm of the pilot, a forearm cuff 16 and a glove 17, and a boot 18 for each foot of the pilot. The chest harness 12 and the waist belt 13 are attached to the equipment backpack 11 and are designed to accommodate the pilot's chest and abdomen. The thigh cuffs 14 are hinged to the equipment backpack 11 and are designed to accommodate the pilot's thighs. The upper arm cuffs 15 are hinged to the equipment backpack 11 and are designed to accommodate the pilot's upper arms. The forearm cuffs 16 are hinged to the respective upper arm cuff 15 and are designed to accommodate the pilot's forearms.The gloves 17 are articulated to the respective forearm cuff 16 and are designed to accommodate the hands or just the palms of the pilot. The boots 18 are articulated to the respective thigh cuff 14 and are designed to accommodate the lower legs and / or the feet of the pilot. The joints between the equipment backpack 11 and each thigh cuff 14, between the equipment backpack 11 and each upper arm cuff 15, between the upper arm cuffs 15 and the respective forearm cuff 16, between the forearm cuffs 16 and the respective gloves 17, between the thigh cuffs 14 and the respective boots 18 and, if applicable, within the boots 18 between the shaft and foot section and / or within the gloves 17 at the finger joints are equipped with sensors (not further specified or 521 in . Fig. 5) which detect the respective joint position with respect to at least one axis, and are further equipped with actuators (not shown in detail or 522 in Fig. 5), which are designed to represent a reaction force at the respective joint axes. The sensors and actuators of the exoskeleton are signal-connected to a control unit (not shown in detail or 53 in Fig. 5), which is housed in the equipment backpack 11, and can also be supplied with power by the control unit 53, provided they do not have their own power source. Signal transmission can be wired or wireless. Joint positions can also be sensed using conventional sensors or contactlessly by detecting the relative positions of various transmit and receive points on the exoskeleton 11.

[0025] The lift of the entire system is primarily generated by the flapping wings 2. They consist of at least two, but in the preferred design, three, sections or wing segments, which are connected to each other by hinges. The attitude control of the flight system is also achieved via the tail unit 9, which has several tail feathers 91.

[0026] The flapping wings 2 and the tail unit 9 are also attached or hinged to the equipment backpack 11 ( Fig. 2). The individual components of the flapping wings 2 are referred to below, where appropriate, based on their anatomical model on a bird's wing. Each flapping wing 2 has an upper arm section 21 as a first wing segment, a forearm section 22 as a second wing segment, and a hand section 23 as a third wing segment. A shoulder joint 24 connects the upper arm section 12 to the equipment backpack 11. An elbow joint 25 connects the upper arm section 12 to the forearm section 22. A wrist joint 26 connects the forearm section 22 to the hand section 23. The upper arm section 21, the forearm section 22, and the hand section 23 each have a fairing 27, which each forms at least one leading edge. In the rearward region of the sections 21, 22, 23 in the direction of flow, a plurality of arm wings 28 are provided.The secondaries 28 can be attached to the respective sections 21, 22, 23 rigidly or at least partially movable about one, two, or three axes (in and / or perpendicular to the wing plane and / or about the feather axis). A plurality of secondaries 29 are provided at the distal end of each secondary section 23. Like the secondaries 28, the secondaries 29 can be attached to the secondary section 23 so as to be movable about one, two, or three axes, or they can also be at least partially rigidly attached. The fairings 27 and secondaries 28 form aerodynamically effective wings. The surfaces (fairings 27, wings 28, 29) are designed and mounted in such a way that the wing joint degrees of freedom are not obstructed.Although not shown in detail here, elastic coverings can be provided in the area of ​​the joints 24, 25, 26 to avoid gaps between the coverings 27 where turbulence could occur, or the coverings 27 can be designed in such a way, for example, that they interlock and / or are elastically connected in sections, that no or only a very small gap is created between the coverings 27 in any joint position of the joints 24, 25, 26. In one embodiment of a bat-like wing, the entire wing surface can be made of stretchable material.

[0027] Optionally, small springs or spring-like elements can be provided that rest on the surface of the blades in the direction of flow. If a flow separation occurs, the flow direction in the boundary layer is known to reverse. In this case, the small springs are forced up by the flow, thereby impeding or even preventing the backflow. This mechanism can be useful for the unsteady flow processes on flapping wings.

[0028] The skeletal structure of the flapping wings 2 will now be described in more detail. Fig. 3 corresponds to the Fig. 2 from a different perspective, whereby a flapping wing 2, covering 27 and wings 28, 29 of the flapping wing 2 shown as well as parts of the exoskeleton 1 are omitted to illustrate internal structures. Fig. 4 corresponds to the Fig. 3 from behind. Following their biological model, the skeletal parts of the upper arm section 21, the forearm section 22, and the hand section 23 are referred to below as the humerus 31, the ulna 32, and the digit 33. (A radius is omitted because forearm torsion is technically implemented differently.) For the purposes of this description, terms such as proximal, distal, etc., refer to the direction or position relative to the equipment backpack 11 or its center.

[0029] The joints 24, 25, 26 are realized and actuated by rotary actuators 35, linear actuators 36, levers 37 and belt drives 38 with rotary wheels 39.

[0030] In particular, the shoulder joint 24 is constructed as follows: A rotary actuator 35 rotates a ring mounted on the equipment backpack 11 about an axis 40. A lever 37 is mounted on the ring, the proximal end of which lies inside the ring and is moved linearly along the axis 40, i.e. away from the equipment backpack 11 and towards it, by a linear actuator 36 also mounted on the equipment backpack 11. This allows the lever 37 to pivot about an axis 41 at the bearing point on the ring. It is understood that the lever 37 can also pivot with the ring about the axis 40. The distal end of the lever 37 lying outside the ring carries a further rotary actuator 35, the movable part of which acts on the humerus 31 and rotates it relative to the lever 37 about its axis 42. The humerus 31 can extend further proximally inside the lever 37 and be supported there at least radially, which reduces bending moments in the rotary actuator 35 or in the lever 37.Obviously, in analogy to a wing configuration of a bird or airplane, an angular position around the axis 40 defines a sweep angle, an angular position around the axis 41 defines a flapping angle and an angular position around the axis 42 defines an angle of attack of the flapping wing 2.

[0031] The elbow joint 25 has a lever 37 that is pivotally mounted about an axis 43 at the outer (distal) end of the humerus 31. A linear actuator 36 engages the humerus 31 and the proximal end of the lever 37, thus pivoting the lever about the axis 43. At the distal end of the lever 37, another rotary actuator 35 is provided, the movable part of which engages the ulna 32 and rotates it relative to the lever 37 about its axis 44. The ulna 32 can extend further proximally inside the lever 37 and be supported there at least radially, which reduces bending moments in the rotary actuator 35 or in the lever 37. Obviously, in analogy to biological conditions, an angular position about the axis 43 defines a flexion angle of the elbow joint 25, and an angular position about the axis 44 defines a forearm torsion angle.

[0032] The wrist 26 is constructed as follows: At the distal end of the ulna 32, a universal joint with two axes 45, 46 is attached, which distally transitions into the digit 33. The axis 45, mounted on the side of the ulna 32, also carries a wheel 49, which is driven via a belt 38 by a rotary actuator 35 attached to the ulna 32. A linear actuator 36 engages the axis 45 on the one hand and pivots with it, and on the other hand, engages the digit 33 to pivot it about the axis 46. Obviously, again in analogy to biological conditions, an angular position about the axis 45 defines an abduction angle, and an angular position about the axis 46 defines a flexion angle of the wrist 26.

[0033] The humerus 31 thus has three degrees of freedom of rotation, effectively allowing the flapping wings (41), pivoting or swerving (40), and tilting or rotating (42). The ulna 32 has two degrees of freedom, allowing the flapping wings 2 to be folded (43) and crossed (44). The digitus 33 can also fold (46) and additionally hang (45). Axis 45 is perpendicular to the folding axis 46 and the longitudinal axis of the digitus.

[0034] In the preferred embodiment, the tail unit 9 is also modeled after birds. Several tail feathers 91 are fixed like a fan to an articulated base 94. The base 94 has two degrees of freedom: rotation about the angle bisector 47 of the fan by means of a rotary actuator 35, and tilting about a transverse axis 48 passing through the base of the base 94 by means of another rotary actuator 35 and belt drive 38. Optionally, the individual tail feathers 91 can also be twisted about their own axis and / or pivoted relative to the base 94. The actuators and sensors are comparable to those of the flapping wings 2.

[0035] Relative movements between the individual links 21, 22, 23, 94 or relative to the equipment backpack 11 are caused directly or indirectly by the aforementioned actuators or actuators. Actuators refer to operable components. Examples include electric motors, pneumatic, or hydraulic cylinders. In the present embodiment, these are primarily hydraulic linear cylinders (linear actuator 36) and hydraulic rotary cylinders (rotary actuator 35). As described, other power transmission and conversion elements can also be used, such as a belt drive 38, 39.

[0036] Positions, forces, and other relevant quantities are recorded using various sensors. These include load cells, strain gauges, position sensors, thermometers, pressure sensors, etc.

[0037] If individual wings 28, 29 or tail feathers 91 can be actuated individually, additional corresponding actuators and, if necessary, sensors must be provided.

[0038] In the present embodiment, the exoskeleton 1 has a fixed structure 11-13 for the torso and a movable structure 14-18 for the arms and for the feet and / or legs of the pilot. Fig. In Figure 1, the exoskeleton 11 is shown only symbolically as arm and foot outlines. It is understood that the arrangement shown is purely exemplary and can be modified as desired within the scope of the functionality presented here. For example, the equipment backpack represents any desired form of equipment carrier to which the flapping wings 2 and the tail unit 9 can be hinged. Furthermore, instead of the chest harness 12 and waist belt 13, a harness or a vest can be provided, to which the upper arm cuffs 15 and the thigh cuffs 14 are hinged. The equipment backpack 11 can be designed separately and can be mounted on the harness or vest. A back plate can be provided, to which the chest harness 12, waist belt 13, and cuffs 14, 15 are attached or hinged, and to which an equipment carrier can be attached.The exoskeleton 1 can also be a full-body suit, integrating the functions of the chest harness 12, waist belt 13, cuffs 14-16, gloves 17, and boots 18, as well as all joints in between. In the latter case, for example, the equipment backpack 11 with the flapping wings 2 and the tail unit 9 can be pulled over the full-body suit. All conceivable combinations of the above-mentioned modifications are possible depending on the needs and intended use.

[0039] For further understanding, the flight system will now be described from a system perspective using the block diagram in Fig. 5. The flight system or overall system 50 comprises a wing system 51, an exoskeleton system 52, and a central control unit 53, which can also be referred to as a flight control computer. Optionally, a pilot information interface 54, an alternative input system 55, and a support and auxiliary drive system 56 can be provided. The wing system 51 comprises control components 511 of the flight actuators 35, 36 ( Fig. 3, Fig. 4), an emergency stabilization system 512 and a plurality of sensors 513. The exoskeleton system 52 has sensors and input interfaces 521 for the individual limbs or joints of the exoskeleton 1 ( Fig. 1), control components 522 of feedback actuators of the exoskeleton 1, and a controller system 523. The optional alternative input system 55 can, for example, comprise analog sticks and switches 551, a brain-computer interface 552, or other input devices 553. The optional support and auxiliary drive system 56 can, for example, comprise one or more gyroscopes 561, one or more auxiliary drives 562, or further modules 563. The control unit 53 can also be treated as part of the wing system 51. Likewise, the support and auxiliary drive system 56 can also be treated as part of the wing system 51. The controller system 523 of the exoskeleton system 52 can also be fully or partially integrated into the control unit 53. The control unit 53 can also be implemented distributed in other systems. In the present embodiment, the control unit 53 with valves, etc. is physically housed in the equipment backpack 11, which thus serves as a device carrier.

[0040] In this embodiment, all seven actuated degrees of freedom 40-46 of the flapping wings 2 are to be controlled by the arms, which is why, for example, seven sensed degrees of freedom on the arms also serve as controller input variables for the central control unit 53 for controlling the flapping wings 2. More or fewer degrees of freedom can also be sensed on the arms, which are converted into the actuated degrees of freedom of the flapping wings. The (at least) two degrees of freedom of the tail feathers 91 are to be controlled with the ankle joints and / or knees. The tilting of the fan around the transverse axis 48 can be controlled, for example, by the average angle of the two joints, while the rotation of the fan around the longitudinal axis 47 can be controlled by the angle difference between the two joints.Turning the torso or bending a hip can be used for attitude control, such as roll control, whereby the roll can be initiated, for example, via an angle of attack of the flapping wings 2. The control of the actuated degrees of freedom can be achieved, for example, in a conventional manner by impedance or admittance control.

[0041] In addition to the exoskeleton 1, another input method for the controller input variables can optionally be used. It is conceivable to abstract the movements of the wings 2 in the form of movement patterns. These patterns could be accessed and controlled using switches, buttons, and / or analog sticks. It would be conceivable to trigger the wing beat at the touch of a button, while controlling the forward, sideways, and roll movements of the entire system using analog sticks. In such a case, the stabilization of the flight attitude could be handled completely automatically by the flight control system. This could also enable an autopilot function or emergency takeover function.

[0042] The control unit or flight controller 53 controls the entire wing system 51 and can also control the support and auxiliary propulsion system 56. It records the states and measured variables of the wing system 51, as well as the signals from the input methods 521 of the exoskeleton system 52 and, optionally, the alternative input system 55. They are processed using standard methods and then output, for example, as control variables for the actuators of the wing system 51, as input variables for the exoskeleton controller 523, and as information for the pilot via the interface 54. Fig. Figure 5 shows an overview of the information flows. Such control systems are known in a wide variety of applications and variations, and are often found in quadruplex configurations in aircraft. For example, a four-channel bilateral telemanipulation system can be used to link the exoskeleton and wings.

[0043] All of the aforementioned subsystems are connected to the equipment backpack 11. It represents the central structure between the flapping wings 2, the tail unit 9, and the pilot or exoskeleton 1. The equipment backpack 11 was described above as belonging to the exoskeleton 1 or exoskeleton system 52. However, this affiliation is not mandatory. The equipment backpack 11 can also be considered belonging to the wing system 51, whereby only a back plate or structure of the equipment backpack 11, to which the upper arm and thigh cuffs 15, 14 are hinged, can be considered belonging to the exoskeleton system 52.

[0044] The equipment backpack 11 contains all other units and devices required for operation that are not attached to another structure. These include, for example, energy storage devices such as batteries, pressure vessels, and fuel tanks, as well as energy converters such as electric motors, turboshaft engines, combustion engines, and hydraulic pumps. It also contains the control unit 53, switches and valves for the actuators of the wing system 51, and possibly gyroscopes. Other auxiliary systems commonly used in aviation, such as fire extinguishing systems, are also conceivable. In the preferred embodiment, it also contains regulators, switches, and valves, etc., for the supply and control of the exoskeleton system 52. The pilot is attached to it preferably via harnesses 12, 13, similar to those worn by parachutists. The upper arm cuffs 15 and thigh cuffs 14 are movably attached to it.In one variant, exoskeleton 1 requires no structural attachment around the feet / knees. In this case, only the necessary connections for the actuators and sensors lead to it.

[0045] In the event that the flight should get out of control, the emergency system 512 is provided. This, for example, brings the flapping wings 2 and the tail unit 9 into a load-bearing configuration if the exoskeleton 1 fails. In cylinder / piston actuators 35, 36, this can be a preloaded and locked spring. If the lock is released, it moves the wing in such a way that the entire system can enter gliding flight or, for example, assumes a configuration similar to a dandelion seed, which limits the descent rate. A compressed gas cylinder with a manual valve, with the help of which the pistons can be moved manually, would also be conceivable. An explosively ejected parachute, which is effective even at low altitudes, could also be used. It is also conceivable that the unit consisting of exoskeleton 1 and pilot can be separated from the wing system and have a separate parachute.To enter the emergency configuration, the emergency system can be activated, for example, by the flight controller or directly by the pilot.

[0046] For navigation and other purposes, the interface 54 may be provided to the flight control system, which transmits various information such as attitude and speed, fuel quantity, altitude, etc. This information may be used by instruments, a head-up display (HUD) or head-mounted display (HMD) system, and other modules.

[0047] It is conceivable to attach additional propulsion systems to the wing system. For example, it would be possible to attach jet engines to the equipment backpack 11, or to attach propellers and propulsion to the wings 2 or the equipment backpack 11. This would make it possible to achieve higher flight speeds. Usage concepts

[0048] A first, but not exclusive, application would be a type of improved hang glider. Unlike paragliders and hang gliders, however, this would enable much more agile and precise movement in the air. For example, a stall on a wing could be stopped by flapping the wing. Depending on the performance of the energy storage devices, it is also possible to gain altitude by flapping the wings. With the appropriate design and power source, a vertical takeoff using the wings is possible.

[0049] Because the wings are foldable, it's possible to fly in awkward locations and negotiate narrow passages with the wings folded. Overall, a flight system according to the present invention is superior to other aircraft in terms of free movement in the air.

[0050] In the preferred embodiment, the pilot is connected to the wing system and flies along. Another possibility is to establish a wireless connection between the input method and the wing system. This creates a telepresence or telerobotic system with greater free transport capacity. For example, the pilot could hover with their exoskeleton in a harness while the wing system operates like a drone at a remote location. Such a wing system could also potentially be controlled solely using alternative input methods or flight patterns. List of reference symbols 1 exoskeleton 2 flapping wings 9 tail unit 11 Equipment backpack 12 chest strap 13 Waist belt 14 Thigh strap 15 Upper arm cuff 16 Forearm cuff 17 Gloves 18 boots 21 Upper arm section 22 Forearm section 23 Hand section 24 Shoulder joint 25 Elbow joint 26 Wrist 27 Cladding 28 Secondary swing 29 Primary wing 31 Humerus 32 Ulna 33 Digitus 35 rotary actuators 36 linear actuators 37 levers 38 Belt drive 40-46 degrees of freedom of the flapping wing 47.48 degrees of freedom of the tail unit 50 total system 51 wing system 511 control components of the flight actuators 512 Emergency Stabilization System 513 sensors 52 Exoskeleton system 521 sensors and input interfaces 522 control components of the exoskeleton actuators 523 control system 53 Central control unit 54 Information interface for pilot (optional) 55 Alternative input system 551 analog sticks and switches 552 Brain-computer interface 553 Other input devices 56 Support and auxiliary drive system (optional) 561 gyroscope(s) 562 additional drive(s) 563 Additional modules 91 Tail feather 94 Base

[0051] The above list is an integral part of the description

Claims

[1] Flight system, with at least two actuated flapping wings (2), an actuated tail unit (9), a control unit (53) and an exoskeleton (1) for at least one person, wherein the exoskeleton (1) is movable independently of the flapping wings (2), and wherein the control unit (53) is designed to receive movement sensor signals of the exoskeleton (1) and to define movement specification signals on the basis of the movement sensor signals and to control the flapping wings (2) and / or the tail unit (9) with the movement specification signals, wherein the movement specification signals are preferably defined such that the movements of the flapping wings (2) and / or the tail unit (9) follow those of the exoskeleton (1). [2] Flight system according to claim 1, wherein the control unit (53) is designed to receive effect sensor signals from the flapping wings (2) and / or the tail unit (9) and to define feedback preset signals on the basis of the effect sensor signals and to control the exoskeleton (1) with the feedback preset signals in such a way that the forces acting on the flapping wings (2) and / or the tail unit (9) are perceptible to the pilot via the exoskeleton (1). [3] Flight system according to claim 1 or 2, wherein the control device (53) is designed to set the movement specification signals such that degrees of freedom of the flapping wings (2) can be controlled with the arms and / or hands of the person, and / or that degrees of freedom of the tail unit (9) can be controlled with the legs and / or feet of the person. [4] A flight system according to one of the preceding claims, wherein the flapping wings (2) each have at least one wing and at least one primary wing (29), wherein the primary wing (29) individually and / or all primary wing (29) together can be pivoted perpendicularly to a wing adjacent to the primary wing or primary wing (29). [5] Flight system according to one of the preceding claims, wherein the control unit (53) is configured to automatically determine movement specifications for flapping wings (2) and / or tail unit (9) based on a movement direction or a movement pattern specified for the flight system. [6] Flight system according to one of the preceding claims, wherein a further input device (551, 552, 553) is provided to specify movements of flapping wings (2) and / or tail unit (9), wherein the further input device (551, 552, 553) comprises in particular analogue sticks, switches and buttons and / or a brain-computer interface. [7] Flight system according to one of the preceding claims, wherein ratios of the controller input variables recorded at the exoskeleton (1), the flapping wings (2), the tail unit (9) and subsystems to the resulting controller output variables are adjustable, wherein they are preferably also completely decoupled, wherein preferably various measured variables can be combined to form a manipulated variable. [8] Flight system according to one of the preceding claims, wherein an interface (54) for a head-up display (HUD) or a head-mounted display (HMD) is provided to provide the person with information relevant to the operation of the flight system. [9] Flight system according to one of the preceding claims, wherein objects are mounted on the wing surface which, in the event of a backflow in the boundary layer, stand up and impede the flow. [10] Flight system according to one of the preceding claims, wherein gyroscopes (561) are carried along in order to generate moments for influencing and / or measuring a flight attitude of the flight system. [11] Flight system according to one of the preceding claims, wherein pre-stressed energy storage devices are provided which are designed to put the entire system into an emergency configuration which limits the descent rate in the event of subsystems failure. [12] Flight system according to one of the preceding claims, wherein at least one additional drive element (562), such as a jet engine or a propeller with a drive unit, is provided. [13] Flight system according to one of the preceding claims, wherein the flapping wings (2) have a plurality of wing members (21, 22, 23) which are movable and actuated relative to one another, and wherein stretchable material and / or overlapping spatial surfaces are preferably provided at boundaries between two wing members (21, 22, 23) and / or between a wing member (21, 22, 23) and an equipment carrier (11). [14] Flight system according to one of the preceding claims, wherein the tail unit (9) has tail feathers (91) which are preferably arranged in a fan-like manner, wherein a tilting of the tail feathers (91) perpendicular to a horizontal plane of the flight system is controllable by the mean angle of the ankle joints and / or knee joints of the person, and wherein a rotation of the tail feathers (91) about a longitudinal axis of the flight system is controllable by an angular difference between the ankle joints and / or knee joints of the person.

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